RoNIN: Robust Neural Inertial Navigation in the Wild: Benchmark, Evaluations, and New Methods

This paper sets a new foundation for data-driven inertial navigation research, where the task is the estimation of positions and orientations of a moving subject from a sequence of IMU sensor measurements. More concretely, the paper presents 1) a new benchmark containing more than 40 hours of IMU se...

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Bibliographic Details
Main Authors Yan, Hang, Herath, Sachini, Furukawa, Yasutaka
Format Journal Article
LanguageEnglish
Published 30.05.2019
Subjects
Computer Science - Computer Vision and Pattern Recognition
Computer Science - Robotics
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Summary:This paper sets a new foundation for data-driven inertial navigation research, where the task is the estimation of positions and orientations of a moving subject from a sequence of IMU sensor measurements. More concretely, the paper presents 1) a new benchmark containing more than 40 hours of IMU sensor data from 100 human subjects with ground-truth 3D trajectories under natural human motions; 2) novel neural inertial navigation architectures, making significant improvements for challenging motion cases; and 3) qualitative and quantitative evaluations of the competing methods over three inertial navigation benchmarks. We will share the code and data to promote further research.
DOI:10.48550/arxiv.1905.12853